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- Genre: Doctoral Dissertation
- Member of: ASU Electronic Theses and Dissertations
- Member of: Theses and Dissertations
Description
Robotic technology is advancing to the point where it will soon be feasible to deploy massive populations, or swarms, of low-cost autonomous robots to collectively perform tasks over large domains and time scales. Many of these tasks will require the robots to allocate themselves around the boundaries of regions or features of interest and achieve target objectives that derive from their resulting spatial configurations, such as forming a connected communication network or acquiring sensor data around the entire boundary. We refer to this spatial allocation problem as boundary coverage. Possible swarm tasks that will involve boundary coverage include cooperative load manipulation for applications in construction, manufacturing, and disaster response.
In this work, I address the challenges of controlling a swarm of resource-constrained robots to achieve boundary coverage, which I refer to as the problem of stochastic boundary coverage. I first examined an instance of this behavior in the biological phenomenon of group food retrieval by desert ants, and developed a hybrid dynamical system model of this process from experimental data. Subsequently, with the aid of collaborators, I used a continuum abstraction of swarm population dynamics, adapted from a modeling framework used in chemical kinetics, to derive stochastic robot control policies that drive a swarm to target steady-state allocations around multiple boundaries in a way that is robust to environmental variations.
Next, I determined the statistical properties of the random graph that is formed by a group of robots, each with the same capabilities, that have attached to a boundary at random locations. I also computed the probability density functions (pdfs) of the robot positions and inter-robot distances for this case.
I then extended this analysis to cases in which the robots have heterogeneous communication/sensing radii and attach to a boundary according to non-uniform, non-identical pdfs. I proved that these more general coverage strategies generate random graphs whose probability of connectivity is Sharp-P Hard to compute. Finally, I investigated possible approaches to validating our boundary coverage strategies in multi-robot simulations with realistic Wi-fi communication.
In this work, I address the challenges of controlling a swarm of resource-constrained robots to achieve boundary coverage, which I refer to as the problem of stochastic boundary coverage. I first examined an instance of this behavior in the biological phenomenon of group food retrieval by desert ants, and developed a hybrid dynamical system model of this process from experimental data. Subsequently, with the aid of collaborators, I used a continuum abstraction of swarm population dynamics, adapted from a modeling framework used in chemical kinetics, to derive stochastic robot control policies that drive a swarm to target steady-state allocations around multiple boundaries in a way that is robust to environmental variations.
Next, I determined the statistical properties of the random graph that is formed by a group of robots, each with the same capabilities, that have attached to a boundary at random locations. I also computed the probability density functions (pdfs) of the robot positions and inter-robot distances for this case.
I then extended this analysis to cases in which the robots have heterogeneous communication/sensing radii and attach to a boundary according to non-uniform, non-identical pdfs. I proved that these more general coverage strategies generate random graphs whose probability of connectivity is Sharp-P Hard to compute. Finally, I investigated possible approaches to validating our boundary coverage strategies in multi-robot simulations with realistic Wi-fi communication.
ContributorsPeruvemba Kumar, Ganesh (Author) / Berman, Spring M (Thesis advisor) / Fainekos, Georgios (Thesis advisor) / Bazzi, Rida (Committee member) / Syrotiuk, Violet (Committee member) / Taylor, Thomas (Committee member) / Arizona State University (Publisher)
Created2016
Description
The ease of programmability in Software-Defined Networking (SDN) makes it a great platform for implementation of various initiatives that involve application deployment, dynamic topology changes, and decentralized network management in a multi-tenant data center environment. However, implementing security solutions in such an environment is fraught with policy conflicts and consistency issues with the hardness of this problem being affected by the distribution scheme for the SDN controllers.
In this dissertation, a formalism for flow rule conflicts in SDN environments is introduced. This formalism is realized in Brew, a security policy analysis framework implemented on an OpenDaylight SDN controller. Brew has comprehensive conflict detection and resolution modules to ensure that no two flow rules in a distributed SDN-based cloud environment have conflicts at any layer; thereby assuring consistent conflict-free security policy implementation and preventing information leakage. Techniques for global prioritization of flow rules in a decentralized environment are presented, using which all SDN flow rule conflicts are recognized and classified. Strategies for unassisted resolution of these conflicts are also detailed. Alternately, if administrator input is desired to resolve conflicts, a novel visualization scheme is implemented to help the administrators view the conflicts in an aesthetic manner. The correctness, feasibility and scalability of the Brew proof-of-concept prototype is demonstrated. Flow rule conflict avoidance using a buddy address space management technique is studied as an alternate to conflict detection and resolution in highly dynamic cloud systems attempting to implement an SDN-based Moving Target Defense (MTD) countermeasures.
In this dissertation, a formalism for flow rule conflicts in SDN environments is introduced. This formalism is realized in Brew, a security policy analysis framework implemented on an OpenDaylight SDN controller. Brew has comprehensive conflict detection and resolution modules to ensure that no two flow rules in a distributed SDN-based cloud environment have conflicts at any layer; thereby assuring consistent conflict-free security policy implementation and preventing information leakage. Techniques for global prioritization of flow rules in a decentralized environment are presented, using which all SDN flow rule conflicts are recognized and classified. Strategies for unassisted resolution of these conflicts are also detailed. Alternately, if administrator input is desired to resolve conflicts, a novel visualization scheme is implemented to help the administrators view the conflicts in an aesthetic manner. The correctness, feasibility and scalability of the Brew proof-of-concept prototype is demonstrated. Flow rule conflict avoidance using a buddy address space management technique is studied as an alternate to conflict detection and resolution in highly dynamic cloud systems attempting to implement an SDN-based Moving Target Defense (MTD) countermeasures.
ContributorsPisharody, Sandeep (Author) / Huang, Dijiang (Thesis advisor) / Ahn, Gail-Joon (Committee member) / Syrotiuk, Violet (Committee member) / Doupe, Adam (Committee member) / Arizona State University (Publisher)
Created2017
Description
Distributed self-assessments and reflections empower learners to take the lead on their knowledge gaining evaluation. Both provide essential elements for practice and self-regulation in learning settings. Nowadays, many sources for practice opportunities are made available to the learners, especially in the Computer Science (CS) and programming domain. They may choose to utilize these opportunities to self-assess their learning progress and practice their skill. My objective in this thesis is to understand to what extent self-assess process can impact novice programmers learning and what advanced learning technologies can I provide to enhance the learner’s outcome and the progress. In this dissertation, I conducted a series of studies to investigate learning analytics and students’ behaviors in working on self-assessments and reflection opportunities. To enable this objective, I designed a personalized learning platform named QuizIT that provides daily quizzes to support learners in the computer science domain. QuizIT adopts an Open Social Student Model (OSSM) that supports personalized learning and serves as a self-assessment system. It aims to ignite self-regulating behavior and engage students in the self-assessment and reflective procedure. I designed and integrated the personalized practice recommender to the platform to investigate the self-assessment process. I also evaluated the self-assessment behavioral trails as a predictor to the students’ performance. The statistical indicators suggested that the distributed reflections were associated with the learner's performance. I proceeded to address whether distributed reflections enable self-regulating behavior and lead to better learning in CS introductory courses. From the student interactions with the system, I found distinct behavioral patterns that showed early signs of the learners' performance trajectory. The utilization of the personalized recommender improved the student’s engagement and performance in the self-assessment procedure. When I focused on enhancing reflections impact during self-assessment sessions through weekly opportunities, the learners in the CS domain showed better self-regulating learning behavior when utilizing those opportunities. The weekly reflections provided by the learners were able to capture more reflective features than the daily opportunities. Overall, this dissertation demonstrates the effectiveness of the learning technologies, including adaptive recommender and reflection, to support novice programming learners and their self-assessing processes.
ContributorsAlzaid, Mohammed (Author) / Hsiao, Ihan (Thesis advisor) / Davulcu, Hasan (Thesis advisor) / VanLehn, Kurt (Committee member) / Nelson, Brian (Committee member) / Bansal, Srividya (Committee member) / Arizona State University (Publisher)
Created2022